CN113819339A

CN113819339A - Pipeline detection device

Info

Publication number: CN113819339A
Application number: CN202110989129.XA
Authority: CN
Inventors: 詹威鹏
Original assignee: Shenzhen Power Supply Bureau Co Ltd
Current assignee: Shenzhen Power Supply Bureau Co Ltd
Priority date: 2021-08-26
Filing date: 2021-08-26
Publication date: 2021-12-21

Abstract

The invention relates to a pipeline detection device, comprising a frame, a runner assembly, a power mechanism and a detection mechanism. A cavity is opened in the skeleton. The runner assembly is sleeved on the skeleton and can rotate around the skeleton. The runner assembly includes at least one runner, the outer wall of the runner is provided with threads, and the included angle between the extension direction of the threads and the first direction is an acute angle or an obtuse angle. The direction is the axis direction of the runner. The power mechanism is installed in the cavity and is used to drive the runner assembly to rotate. When the runner assembly rotates, the runner assembly receives the reaction force along the extension direction of the thread, and the detection mechanism is arranged at one end of the skeleton. Since the pipeline detection device of the present application realizes rotation and forward movement through the runner assembly, there is no situation that it cannot be automatically turned over after a rollover, and it can be used for the detection of pipelines with complex environments.

Description

Pipeline detection device

Technical Field

The invention relates to the technical field of pipeline detection, in particular to a pipeline detection device.

Background

Urban underground space distributes has a lot of underground pipeline, and when high tension cable adopted the pipeline laying mode, must examine the pipeline earlier and accept, inspect pipeline deformation, plug and refute the interface condition etc..

At present, mainly adopt the pipeline robot of crawling to detect, pipeline robot generally includes pipeline robot body and control box and the power drive system who takes certainly to can walk automatically in the pipeline, its walking mode is wheeled or crawler-type generally. However, due to the fact that the pipeline is deformed, blocked, refuted and the like, the crawling robot is prone to rollover when crawling, and cannot automatically overturn after rollover, so that the crawling robot cannot be used for detecting the pipeline with a complex environment.

Disclosure of Invention

In view of the above, it is necessary to provide a pipeline inspection device for solving the problem that the conventional pipeline inspection equipment is prone to rollover.

A pipeline inspection device for performing inspection within a pipeline, comprising:

a skeleton having a cavity therein;

the rotating wheel assembly is sleeved on the periphery of the framework and can rotate around the framework, the rotating wheel assembly comprises at least one rotating wheel, threads are arranged on the outer wall of the rotating wheel assembly, and an included angle between the extending direction of the threads and a first direction is an acute angle or an obtuse angle, wherein the first direction is the axis direction of the rotating wheel assembly;

the power mechanism is arranged in the cavity and used for driving the rotating wheel component to rotate; and

and the detection mechanism is arranged at one end of the framework and used for detecting the environment condition inside the pipeline.

In one embodiment, the wheel assembly comprises an odd number of wheel units, the odd number of wheel units comprising: the first rotating wheel unit and the second rotating wheel unit are sequentially and alternately connected along the first direction;

either of the first and second wheel units comprises at least one wheel, wherein the direction of rotation of the threads of the wheel in the first wheel unit is opposite to the direction of rotation of the threads of the wheel in the second wheel unit;

the rollers in the roller assembly can receive a reaction force from the inner wall of the pipeline when the roller assembly rotates on the inner wall of the pipeline, wherein the sum of the reaction forces received by the rollers in each first roller unit from the inner wall of the pipeline is a first reaction force, the sum of the reaction forces received by the rollers in each second roller unit from the inner wall of the pipeline is a second reaction force, the component of the resultant force of the first reaction forces of all first roller units and the second reaction forces of all second roller units in the second direction is zero, and the resultant moment acting on the roller assembly by the first reaction forces of all first roller units and the second reaction forces of all second roller units is zero, so that the roller assembly can move in the pipeline in the first direction when the inner wall of the pipeline rotates, wherein the first direction is perpendicular to the second direction.

In one embodiment, the number of the wheel units is three, wherein the number of the first wheel units is two, the number of the second wheel units is one, the second wheel unit is located between the two first wheel units, and each wheel unit includes one wheel.

In one embodiment, the helix angle of the thread on the first wheel unit is equal to the helix angle of the thread on the second wheel unit, and the second reaction force is 2 times the magnitude of the first reaction force.

In one embodiment, the first reaction force is equal to the second reaction force, and the pitch angle of the threads on the first wheel unit is smaller than the pitch angle of the threads on the second wheel unit.

In one embodiment, the outer diameter of the wheel in the first wheel unit decreases gradually in a direction in which the first wheel unit is away from the second wheel unit.

In one embodiment, the power mechanism includes a first power assembly, the first power assembly including:

the inner gear ring is arranged on the inner wall of any one of the rotating wheels;

a driving member having a first output end; and

the driving wheel is arranged on the first output end of the driving piece, and the driving wheel is arranged in the inner gear ring and meshed with the inner gear ring.

In one embodiment, the power mechanism further comprises a second power assembly, the second power assembly comprising:

the inner walls of the two rotating wheels in the same rotating wheel unit are respectively provided with one inner gear ring;

a drive member having a first output and a second output;

the first output end and the second output end are respectively provided with a driving wheel; the action wheel with the internal gear circle one-to-one sets up, the action wheel sets up corresponding in the internal gear circle and with correspond the meshing of internal gear circle.

In one embodiment, the power mechanism further comprises a third power assembly, and the third power assembly comprises:

the inner gear ring is arranged on the inner wall of one rotating wheel in the first rotating wheel unit and the inner wall of one rotating wheel in the second rotating wheel unit respectively;

a drive member having a first output and a second output;

the first output end and the second output end of the driving wheel are respectively provided with one driving wheel, and the driving wheel connected with the first output end is arranged in one of the internal gear rings and is meshed with the internal gear ring;

the first driven wheel is meshed with the driving wheel connected with the second output end;

and the second driven wheel is coaxially connected with the first driven wheel, is arranged in the other internal gear ring and is meshed with the internal gear ring.

In one embodiment, a communication wire is connected to the end of the wheel assembly remote from the detection mechanism.

According to the pipeline detection device, the rotating wheel assembly and the power mechanism are arranged, when the power mechanism drives the rotating wheel assembly to rotate on the inner wall of the pipeline, the rotating wheel assembly applies a force opposite to the rotating direction of the power mechanism to the inner wall of the pipeline, and meanwhile, the inner wall of the pipeline applies a reaction force to the rotating wheel assembly; the rotating wheel assembly is provided with threads, so that the rotating wheel assembly is contacted with the inner wall of the pipeline through the threads, namely the direction of the reaction force is positioned on the extension line of the threads; because the extending direction of the screw thread and the first direction form an acute angle or an obtuse angle, namely the reaction force can be divided into a component force along the first direction and a component force vertical to the first direction; in actual use, the component force direction in the first direction is the same as the advancing direction of the pipeline detection device, namely, the pipeline detection device can rotate to advance. The pipeline detection device achieves rotation and advance through the rotating wheel assembly, so that the condition that the pipeline cannot be automatically overturned after being overturned does not exist, and the pipeline detection device can be used for detecting pipelines with complex environments; in addition, because the walking mode of the pipeline detection device of this application is for rotating to go forward, need not to set up complicated wheeled or crawler-type running gear, consequently, the pipeline detection device of this application simple structure conveniently carries.

Drawings

FIG. 1 is a schematic diagram of an embodiment of a pipeline inspection device;

FIG. 2 is a force analysis diagram of a wheel assembly according to an embodiment;

FIG. 3 is a cross-sectional view of a pipeline inspection device in one embodiment;

fig. 4 is an exploded view of a pipeline inspection device in one embodiment.

Reference numerals:

100-a framework; 110-a first skeleton; 120-a second skeleton; 130-a cavity;

200-a rotating wheel assembly; 210-a first wheel unit; 211-a thread; 220-a second wheel unit;

300-a power mechanism; 310-a drive member; 330-driving wheel; 340-inner gear ring; 350 — a first driven wheel; 360-a rotating shaft; 370-a second driven wheel; 380-bearing; 390-gear hole;

400-a detection mechanism; 410-detecting a camera; 420-a detection probe; 440-a lens;

500-a control unit; 510-T shaped pin;

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 to 4, an embodiment of the present invention provides a pipeline inspection device, which is capable of crawling in a pipeline when the pipeline inspection device is placed in the pipeline, and the pipeline inspection device includes: frame 100, wheel subassembly 200, power mechanism 300 and detection mechanism 400. The framework 100 serves as a support body of the whole pipeline detection device, a cavity 130 is formed in the framework 100, the framework 100 comprises a first framework 110 and a second framework 120, and the first framework 110 and the second framework 120 can be buckled to form the cavity 130. The rotating wheel assembly 200 is sleeved on the framework 100 and can rotate around the framework 100, the rotating wheel assembly 200 comprises at least one rotating wheel, threads 211 are arranged on the outer wall of the rotating wheel, an included angle between the extending direction of the threads 211 and a first direction OX is an acute angle or an obtuse angle, and the first direction OX is the axis direction of the rotating wheel assembly 200. The power mechanism 300 is installed in the cavity 130 for driving the rotating wheel to rotate, and the detection mechanism 400 is disposed at one end of the framework 100 for detecting the environment inside the pipeline.

In this embodiment, when the power mechanism 300 drives the rotating wheel assembly 200 to rotate on the inner wall of the pipeline, the threads on the outer wall of the rotating wheel generate friction force on the inner wall of the pipeline, and at the same time, the inner wall of the pipeline generates reaction force opposite to the friction force on the rotating wheel. It will be appreciated that the reaction force from the inner wall of the pipe on the rotor is directed in the direction of the extension of the thread 211. Since the extension direction of the thread 211 forms an acute or obtuse angle with the first direction OX, the reaction force exerted on the wheel can be divided into a component force in the first direction OX and a component force perpendicular to the first direction OX. In actual use, the component force direction of the first direction OX is the same as the advancing direction of the pipeline detecting device, so that the pipeline detecting device can advance along the pipeline while rotating, thereby detecting the environmental condition in the pipeline.

The pipeline detection device moves forward along the pipeline while rotating through the rotating wheel assembly 200, so that the situation that the pipeline cannot be automatically overturned after being overturned does not exist, and the pipeline detection device can be used for detecting the pipeline with a complex environment. In addition, because the walking mode of the pipeline detection device advances when rotating, need not to set up complicated wheeled or crawler-type running gear, consequently, the pipeline detection device simple structure of this application conveniently carries.

Referring to fig. 1 and 2, in some embodiments, the wheel assembly 200 includes an odd number of wheel units including a first wheel unit 210 and a second wheel unit 220, and the first wheel unit 210 and the second wheel unit 220 are alternately connected in sequence along the first direction OX. Either of the first wheel unit 210 and the second wheel unit 220 comprises at least one wheel, wherein the direction of rotation of the threads 211 of the wheel in the first wheel unit 210 is opposite to the direction of rotation of the threads 211 of the wheel in the second wheel unit 220.

The wheels in the wheel assembly 200 can receive a reaction force from the inner wall of the pipe when the wheel assembly 200 rotates on the inner wall of the pipe. Wherein the sum of the reaction forces received by the wheel in each first wheel unit 210 from the inner wall of the pipeline is a first reaction force F1, the sum of the reaction forces received by the wheel in each second wheel unit 220 from the inner wall of the pipeline is a second reaction force F2, the component of the resultant force of the first reaction forces F1 of all first wheel units 210 and the second reaction forces F2 of all second wheel units 220 in the second direction OY is zero, and the resultant moment applied to the wheel assembly 200 by the first reaction forces of all first wheel units 210 and the second reaction forces of all second wheel units 220 is zero.

Therefore, when the pipeline detecting device rotates, since the component of the resultant force of the first reaction force F1 of all the first wheel units 210 and the second reaction force F2 of all the second wheel units 220 in the second direction OY is zero, the pipeline detecting device can advance in the pipeline in the first direction OX only by the reaction force from the inner wall of the pipeline applied to the pipeline detecting device in the first direction OX, that is, under the urging of the reaction force in the first direction OX.

Referring to fig. 1, in some embodiments, the number of the wheel units is three, wherein there are two first wheel units 210, one second wheel unit 220, and the second wheel unit 220 is located between the two first wheel units 210, and each wheel unit includes one wheel.

In the present embodiment, the number of wheels is three, one wheel is provided in each first wheel unit 210, and one wheel is provided in each second wheel unit 220. The rotation directions of the two first wheel units 210 at the two ends are opposite to the rotation direction of the second wheel unit 220 in the middle, and in particular, in use, the sum of the first reaction forces F1 along the second direction OY received by the two first wheel units 210 is equal to the second reaction force F2 received by one second wheel unit 220 along the second direction OY, and the resultant moment of the first reaction force F1 and the second reaction force F2 acting on the wheel assembly 200 is zero, that is, at this time, the wheel assembly 200 of the pipeline inspecting device only receives the reaction force along the first direction OX.

In one embodiment, the pitch angle of the threads 211 on the first wheel unit 210 is equal to the pitch angle of the threads 211 on the second wheel unit 220, and the second reaction force F2 is 2 times the first reaction force F1. That is, in the case that the spiral angles of the threads 211 on the first wheel unit 210 and the second wheel unit 220 are equal, the magnitude of the second reaction force F2 applied to the second wheel unit 220 can be adjusted, so that the component of the resultant force of the first wheel unit 210 and the second wheel unit 220 in the second direction OY is zero.

Referring to fig. 2, in another embodiment, the first reaction force F1 is equal to the second reaction force F2, and the pitch angle of the threads 211 on the first wheel unit 210 is less than the pitch angle of the threads 211 on the second wheel unit 220. That is, in the case that the second reaction force F2 and the first reaction force F1 have the same magnitude, the magnitude of the component force of the second reaction force F2 in the second direction OY can be adjusted by adjusting the thread angle, the number of threads, the thread pitch, and the like of the threads 211 on the second wheel unit 220, so that the component force of the second reaction force F2 in the second direction OY is equal to the sum of the component forces of the two first reaction forces F1 in the second direction OY.

In some embodiments, the outer diameter of the wheel in the first wheel unit 210 gradually decreases in a direction in which the first wheel unit 210 is away from the second wheel unit 220. That is, one end of the first wheel unit 210, which is far away from the second wheel unit 220, is a nearly conical structure, and both the front end and the rear end of the pipeline detection device are conical structures. When using, when there is silt class jam in the pipeline, rotatory toper swivel subassembly 200 can pierce through silt, consequently, the pipeline detection device of this application has certain pipeline mediation function, and detection efficiency is better.

The power mechanism 300 is disposed in the cavity 130 of the frame 100, and the power mechanism 300 drives the rotating wheel assembly 200 to rotate.

Referring to fig. 3 and 4, in one embodiment, the power mechanism 300 includes a first power assembly for driving a rotating wheel to rotate, and the first power assembly includes an inner gear ring 340, a driving member 310 and a driving wheel 330. The inner gear ring 340 can be sleeved on the inner wall of any one of the plurality of rotating wheels, the driving member 310 has a first output end, the driving wheel 330 is disposed on the first output end, and the driving wheel 330 is disposed in the inner gear ring 340 and engaged with the inner gear ring 340.

In this embodiment, the frame 100 does not rotate and the wheel is disposed on the frame 100 via the bearing 380 and rotates about the frame 100. The driving member 310 and the driving wheel 330 are disposed in the cavity 130 of the frame 100. The frame 100 is provided with a gear hole 390. The diameter of the driving wheel 330 is smaller than the inner diameter of the inner gear ring 340, and the driving wheel 330 and the inner gear ring 340 are eccentrically arranged. In use, the driving member 310 drives the driving wheel 330 to rotate, and the driving wheel 330 passes through the gear hole 390 to engage with the inner gear ring 340, so as to drive the inner gear ring 340 to rotate.

In some further embodiments, the power mechanism further comprises a second power assembly, the second power assembly comprising: driving piece, action wheel and internal gear circle. The inner walls of two rotating wheels in the same rotating wheel unit are respectively provided with an inner gear ring. The driving piece is provided with a first output end and a second output end, and the first output end and the second output end are respectively provided with a driving wheel. The two driving wheels are arranged in one-to-one correspondence with the two internal gear rings, and the driving wheels are arranged in the corresponding internal gear rings and are meshed with the corresponding internal gear rings. Because two action wheels are through a driving piece drive, the direction of rotation of two action wheels is the same promptly, and then makes two runners syntropy rotate.

Referring to fig. 3 and 4, in yet another embodiment, the power mechanism 300 further includes a third power assembly, the third power assembly including: a driving member 310, a driving wheel 330, a first driven wheel 350, a rotating shaft 360, a second driven wheel 370 and an internal gear ring 340.

An inner wall of one of the first wheel unit 210 and an inner wall of one of the second wheel unit 220 are respectively provided with an inner gear ring 340, wherein for convenience of description, the inner gear ring 340 on the inner wall of one of the first wheel unit 210 is defined as a first inner gear ring, and the inner gear ring 340 on the inner wall of one of the second wheel unit 220 is defined as a second inner gear ring.

The driver 310 has a first output and a second output; the first output end and the second output end are respectively provided with a driving wheel 330, that is, the directions of the two driving wheels 330 are the same, the driving wheel 330 connected to the first output end is arranged in the first gear ring and is engaged with the first gear ring, and the driving wheel 330 connected to the second output end is engaged with the first driven wheel 350, that is, the rotation direction of the first driven wheel 350 is opposite to the rotation direction of the driving wheel 330.

First driven wheel 350 is connected to second driven wheel 370 through rotation shaft 360, i.e. second driven wheel 370 rotates in the same direction as first driven wheel 350, and second driven wheel 370 rotates in the opposite direction to driving wheel 330. The second driven wheel 370 is disposed in the second internal gear ring 340 and engaged with the second internal gear ring 340, that is, the rotation direction of the second internal gear ring 340 is opposite to that of the first internal gear ring 340, that is, the third power assembly can be used to drive the two rotating wheels to rotate in opposite directions.

Since the number of the rotating wheels in the rotating wheel assembly 200 may be multiple, the number of the power mechanism 300 may also be multiple, wherein a motor may be used as the driving member 310 of the power mechanism 300, a mounting seat is arranged in the cavity 130 of the frame 100, the motor is arranged on the mounting seat, and the axial direction of the motor is along the first direction OX. When the power assembly is used specifically, any two or three of the first power assembly, the second power assembly and the third power assembly can be used in a combined mode according to actual conditions, and any one of the first power assembly, the second power assembly and the third power assembly can also be used independently. The motor can rotate forwards or backwards, when the motor rotates forwards, the pipeline detection device rotates forwards towards the interior of the pipeline, and when the motor rotates backwards, the pipeline detection device rotates towards the outlet of the pipeline and exits the pipeline.

In some embodiments, a T-shaped pin 510 is disposed at an end of the rotating wheel assembly 200 away from the detecting mechanism 400, a threading hole is disposed on the T-shaped pin 510, a buckle is disposed at an interface end of the communication line for clamping the threading hole of the T-shaped pin 510, and the communication line plays a role in communication; on the other hand, when the pipeline detection device is stopped or stuck in the pipeline, the pipeline detection device can be pulled out through the communication line.

In some embodiments, the detection mechanism 400 includes a detection camera 410, wherein the detection camera 410 is fixed at one end of the frame 100, a lens 440 is disposed at one end of the wheel assembly 200 where the detection camera 410 is disposed, and a lens of the detection camera 410 is proximate to the lens 440 of the wheel assembly 200 for observing an environment outside the detection. Secondly, the detection mechanism 400 further comprises a detection probe 420, and the detection probe 420 can be used for detecting various harmful gas components in the pipeline, can also continuously transmit pulse signals, and is matched with an underground pipeline detector to detect the depth of the pipeline and the real-time position of a pipeline detection device.

Still be provided with the control unit 500 in the cavity 130, the control unit 500 is connected with motor, detection camera 410, test probe 420 electricity respectively, and the control unit 500 still is connected with control terminal electricity, and when using, control terminal sets up the outside at the pipeline, thereby operating personnel accessible operation control terminal and then control unit 500 controls the motion of pipeline detection device, and wherein the control unit 500 accessible communication line is connected with control terminal communication.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A pipeline detection device for detecting in a pipeline, characterized in that, comprising:

A skeleton, which has a cavity inside;

The runner assembly is sleeved on the periphery of the skeleton and can rotate around the skeleton. The runner assembly includes at least one runner, the outer wall of the runner is provided with threads, and the extension direction of the threads forms an included angle with the first direction is an acute angle or an obtuse angle, wherein the first direction is the axis direction of the runner assembly;

a power mechanism, installed in the cavity, for driving the runner assembly to rotate; and

The detection mechanism is arranged at one end of the skeleton and is used for detecting the environmental condition inside the pipeline.

2 . The pipeline inspection device according to claim 1 , wherein the runner assembly comprises an odd number of runner units, and the odd number of runner units includes: a first runner unit and a second runner unit. 3 . , the first runner unit and the second runner unit are alternately connected in sequence along the first direction;

Any one of the first runner unit and the second runner unit includes at least one of the runners, wherein the rotation direction of the thread of the runner in the first runner unit and the The rotation directions of the threads of the runner in the second runner unit are opposite;

When the runner assembly rotates on the inner wall of the pipe, the runners in the runner assembly can receive a reaction force from the inner wall of the pipe, wherein the runner in each of the first runner units The sum of the reaction force from the inner wall of the pipe is the first reaction force, the sum of the reaction force from the inner wall of the pipe for the runners in each of the second runner units is the second reaction force, and all the first runners are the second reaction force. The component of the resultant force of the first reaction force of the unit and the second reaction force of all the second runner units along the second direction is zero, which is determined by the first reaction force of all the first runner units and all the first runner units. The resultant moment acting on the runner assembly by the second reaction force of the two runner units is zero, so that the runner assembly can move in the pipe along the first direction when the inner wall of the pipe rotates, wherein the first The direction is perpendicular to the second direction.

3 . The pipeline inspection device according to claim 2 , wherein the number of the runner units is three, wherein the number of the first runner units is two, and the number of the second runner units is two. 4 . The number of the runner units is one, the second runner unit is located between the two first runner units, and each of the runner units includes one of the runner units.

4. The pipeline inspection device according to claim 3, wherein the helix angle of the thread on the first runner unit is equal to the helix angle of the thread on the second runner unit, and the second reaction force It is twice the magnitude of the first reaction force.

5 . The pipeline inspection device according to claim 3 , wherein the first reaction force and the second reaction force are equal in magnitude, and the helix angle of the thread on the first runner unit is smaller than that of the second runner. 6 . The helix angle of the thread on the element.

6 . The pipeline inspection device according to claim 3 , wherein along the direction in which the first runner unit is away from the second runner unit, the runners in the first runner unit have The outer diameter gradually decreases.

7. The pipeline inspection device according to claim 1, wherein the power mechanism comprises a first power component, and the first power component comprises:

an inner gear ring, arranged on the inner wall of any one of the runners;

a driver having a first output; and

The driving wheel is arranged on the first output end of the driving member, and the driving wheel is arranged in the inner gear ring and meshes with the inner gear ring.

8 . The pipeline inspection device according to claim 2 , wherein the power mechanism further comprises a second power component, and the second power component comprises: 8 .

an inner gear ring, one of the inner gear rings is respectively provided on the inner walls of the two runners in the same runner unit;

a driver, having a first output end and a second output end;

A driving wheel, a driving wheel is respectively set on the first output end and the second output end; the driving wheel is arranged in a one-to-one correspondence with the inner gear ring, and the driving wheel is arranged in the corresponding inner gear ring and meshing with the corresponding inner gear ring.

9 . The pipeline inspection device according to claim 2 , wherein the power mechanism further comprises a third power assembly, the third power assembly comprising: 10 .

an inner gear ring, the inner wall of one of the runners in the first runner unit and the inner wall of one of the runners in the second runner unit are respectively provided with one of the inner gear rings;

a driver, having a first output end and a second output end;

A driving wheel, the first output end and the second output end are respectively provided with a driving wheel, and the driving wheel connected to the first output end is arranged in one of the inner gear rings and is connected with the inner gear ring mesh;

a first driven wheel, meshing with the driving wheel connected to the second output end;

The second driven wheel is coaxially connected with the first driven wheel, the second driven wheel is arranged in the other inner gear ring and meshes with the inner gear ring.

10 . The pipeline inspection device according to claim 1 , wherein a communication line is connected to one end of the runner assembly away from the inspection mechanism. 11 .